Remote control robot system

ABSTRACT

Plurality of robot main bodies a remote control device including contactless action detecting part configured to detect contactless action including at least one given operation instructing action by operator, and control device communicably connected to remote control device and configured to control operations of plurality of robot main bodies, are provided. Control device includes memory part configured to store operational instruction content data defining operation mode of robot main body corresponding to the at least one operation instructing action, operational instruction content identifying module configured to identify operation mode of robot main body corresponding to one of operation instructing action detected by contactless action detecting part based on operational instruction content data, and motion controlling module configured to control operation of at least one given robot main body among plurality of robot main bodies based on operation mode identified by operational instruction content identifying module.

TECHNICAL FIELD

The present disclosure relates to a remote control robot system.

BACKGROUND ART

Conventionally, systems including a remote operation control devicewhich causes a robot to perform a necessary work are known (e.g., seePatent Document 1).

This system includes a robot installed in a work environment and theremote operation control device which causes the robot to perform thenecessary work while remotely controlling the robot by an operationcontrol system. Thus, it is possible to remotely control the robot.

REFERENCE DOCUMENT OF CONVENTIONAL ART Patent Document

[Patent Document 1] JP2003-311661A

DESCRIPTION OF THE DISCLOSURE Problems to be Solved by the Disclosure

Meanwhile, for example, in order to improve productivity in a productionsystem, it may be considered to sequentially perform in a given workplace a plurality of processes by using a plurality of robots. In thiscase, there has been a problem that if the work processes are planned toavoid interference of the plurality of robots with each other inadvance, it cannot flexibly respond to a change in production plan.

Therefore, in order to flexibly respond to the change in productionplan, it may be considered to give an instruction to each robotaccording to the progression of the process so that the plurality ofrobots do not interfere each other, but there has been a problem that aconfiguration of a manipulating means of the robot becomes complex.Further, with the configuration of the manipulating means being complex,there has been a problem that a required education period for anoperator to be familiar with the method of controlling the manipulatingmeans becomes longer.

SUMMARY OF THE DISCLOSURE

In order to solve the above problems, a remote control robot systemaccording to one aspect of the present disclosure includes a pluralityof robot main bodies, a remote control device including a contactlessaction detecting part configured to detect a contactless actionincluding at least one given operation instructing action by anoperator, and a control device communicably connected to the remotecontrol device and configured to control operations of the plurality ofrobot main bodies. The control device includes a memory part configuredto store operational instruction content data defining an operation modeof the robot main body corresponding to the at least one operationinstructing action, an operational instruction content identifyingmodule configured to identify the operation mode of the robot main bodycorresponding to one of the operation instructing action detected by thecontactless action detecting part based on the operational instructioncontent data, and a motion controlling module configured to controloperation of at least one given robot main body among the plurality ofrobot main bodies based on the operation mode identified by theoperational instruction content identifying module.

With this configuration, an action matching an operator's impression onthe operational instruction content can be set as the operationinstructing action, and a required education period for the operator tobe familiar with the method of manipulating the remote control robotsystem can be shortened.

Further, since it is possible to input the operational instruction tothe contactless action detecting part without touching, there is no needto visually recognize the contactless action detecting part at the timeof inputting the operational instruction to the contactless actiondetecting part, and it is possible to promptly input the operationalinstruction to the contactless action detecting part.

Furthermore, it is possible that actions which are clearlydistinguishable from each other as the respective operation instructingactions are selected and set as the operation instructing actions,preventing incorrect input and erroneous recognition by the operator.

The motion controlling module may control operations of all robot mainbodies out of the plurality of robot main bodies based on the operationmode identified by the operational instruction content identifyingmodule.

With this configuration, the operations of the plurality of robot mainbodies can be controlled in a bulk. Note that the “all robot main bodiesout of the plurality of robot main bodies” means all the robot mainbodies.

The contactless action detected by the contactless action detecting partmay further include at least one given instruction target specificationinstructing action of the operator. The memory part may further storeinstruction target specifying instruction data defining at least onerobot main body among the plurality of robot main bodies whichcorresponds to the at least one instruction target specificationinstructing action, as an instruction target. The control device mayfurther include an instruction target specifying module configured tospecify as the instruction target the at least one given robot main bodycorresponding to one of the instruction target specification instructingaction detected by the contactless action detecting part based on theinstruction target specifying instruction data. The motion controllingmodule may control the operation of the at least one given robot mainbody specified by the instruction target specifying module out of theplurality of robot main bodies, based on the operation mode identifiedby the instruction content identifying module.

With this configuration, the operator is able to select as theinstruction target, the at least one robot main body of which theoperation is to be controlled out of the plurality of robot main bodiesso as to control the robot main body related to the instruction target.

The operation instructing action may be operator's hand gesture.

With this configuration, the operator can input the operationalinstruction by his/her hand gesture.

The operation instructing action may be operator's sound of voice.

With this configuration, the operational instruction can be inputted tothe remote control robot system by the operator's sound of voice.

The contactless action may include a plurality of operation instructingaction groups, each comprised of at least one given operationinstructing action in which the operator moves a body part, and theplurality of operation instructing action groups may be actionsassociated to a plurality of different body parts of the operator. Theoperational instruction content data may further define at least onegiven robot main body among the plurality of robot main bodies whichcorresponds to one of the plurality of operation instructing actiongroups, as an instruction target. The control device may further includean instruction target specifying module configured to specify as theinstruction target the at least one given robot main body correspondingto the instruction target specification instructing action group towhich one of the operation instructing action detected by thecontactless action detecting part belongs, based on the operationalinstruction content data. The motion controlling module may control theoperation of the at least one given robot main body specified by theinstruction target specifying module out of the plurality of robot mainbodies, based on the operation mode identified by the instructioncontent identifying module.

With this configuration, by moving a given body part, the operator isable to integrally input the instruction target specificationinstruction of the at least one robot main body of which the operationis to be controlled out of the plurality of robot main bodies and theoperational instruction to the robot main body related to theinstruction target. Thus, the instruction input can promptly beperformed.

One operation instructing action group among the plurality of operationinstructing action groups may include at least one given operationinstructing action that is a hand gesture in which the operator moves aright hand, and another operation instructing action group among theplurality of operation instructing action groups may include at leastone given operation instructing action that is a hand gesture in whichthe operator moves a left hand

With this configuration, by moving the right and left hands, theoperator is able to input the operational instructions to the robot mainbodies each corresponding to one of the hands. Thus, the instructioninput can promptly be performed.

The plurality of robot main bodies may respectively include a travelingunit configured to cause the robot main body to travel. The operationmode of the robot main body defined by the operational instructioncontent data may include an operation mode in which the robot main bodytravels by the traveling unit.

With this configuration, a traveling instruction for the traveling unitcan be inputted to the remote control robot system by the operationinstructing action.

Effect of the Disclosure

The present disclosure exerts an effect that the required educationperiod for the operator to be familiar with the method of manipulatingthe remote control robot system can be shortened.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a view schematically illustrating a configuration example of aremote control robot system according to a first embodiment of thepresent disclosure.

FIG. 2 is a perspective view illustrating a configuration example of acontactless action detecting part of the remote control robot system inFIG. 1.

FIG. 3 is a block diagram schematically illustrating a configurationexample of a control system of the remote control robot system in FIG.1.

FIG. 4 is a view illustrating a configuration example of instructiontarget specifying instruction data stored in a memory part of the remotecontrol robot system in FIG. 1.

FIG. 5 is a view illustrating a configuration example of operationalinstruction content data stored in a memory part of the remote controlrobot system in FIG. 1.

FIG. 6 is a view illustrating a configuration example of instructiontarget specifying instruction data according to a second embodiment ofthe present disclosure.

FIG. 7 is a view illustrating a configuration example of operationalinstruction content data according to the second embodiment of thepresent disclosure.

FIG. 8 is a block diagram schematically illustrating a configurationexample of a control system of a remote control robot system accordingto a third embodiment of the present disclosure.

FIG. 9 is a view illustrating a configuration example of operationalinstruction content data stored in a memory part of the remote controlrobot system in FIG. 8.

MODES FOR CARRYING OUT THE DISCLOSURE

Hereinafter, embodiments of the present disclosure will be describedwith reference to the accompanying drawings. Note that the presentdisclosure is not to be limited by these embodiments. Further, below,the same reference characters are assigned to the same or correspondingcomponents throughout the figures and redundant description is omitted.

First Embodiment

FIG. 1 is a view schematically illustrating a configuration example of aremote control robot system 100 according to the first embodiment of thepresent disclosure.

As illustrated in FIG. 1, the remote control robot system 100 includes aplurality of robot main bodies 1, a remote control device 2, and acontrol device 3. In this embodiment, the remote control robot system100 includes two robot main bodies 1 including a first robot main body1A and a second robot main body 1B, but it may include three or morerobot main bodies. Hereinafter, when particularly distinguishing thefirst robot main body 1A and the second robot main body 1B from eachother, they are referred to as the first robot main body 1A and thesecond robot main body 1B, respectively, while not particularlydistinguishing them, they are simply referred to as the robot mainbodies 1.

The remote control robot system 100 according to this embodiment is asystem including a master-slave type robot in which a slave arm operatesfollowing a motion of a master arm. The remote control robot system 100is configured such that an operator located at a position distant from aworking area of a slave arm 10 (details of the robotic arm will bedescribed later) of the robot main body 1 (outside the working area) caninput an operational instruction to the remote control robot system 100by moving a master arm 70 of the remote control device 2 (details of arobotic arm operational instruction input part will be described later),to make the slave arm 10 perform an operation corresponding to theoperational instruction by a control of the control device 3 to performa specific work, such as an assembling work of components. The slave arm10 of the remote control robot system 100 is also configured so that theslave arm 10 may automatically perform a given operation by a control ofthe control device 3 without the operator's control of the master arm70.

[Configuration Example of Robot Main Body]

The robot main body 1 includes the slave arm 10, an end effector 16, atraveling unit 17, and a camera 51, and is installed in the workingarea.

The slave arm 10 is, for example, an arm of an articulated-typeindustrial robot, but it is not limited to this. The slave arm 10includes an arm main body 13 and a pedestal 15.

The arm main body 13 includes a plurality of links sequentiallyconnected in a direction from a base-end part toward a tip-end part, andone or more joints coupling the adjacent links so that one of them isrotatable with respect to the other link. Further, the end effector 16is coupled to the tip-end part of the arm main body 13. Moreover, thearm main body 13 is configured so that the tip-end part is moved withrespect to the base-end part by rotating the joint, and the end effector16 thus moves within a given operational area. The arm main body 13includes a robotic arm drive part (not illustrated) which drives aplurality of joint axes. Further, the pedestal 15 supports the arm mainbody 13 and the end effector 16.

In this embodiment, the end effector 16 is configured to be capable ofperforming a holding operation for holding a workpiece and a releasingoperation for releasing the held workpiece, and is attached to thetip-end part of the arm main body 13 via a wrist joint. The end effector16 includes an end effector drive part (not illustrated) for performingthe holding operation and the releasing operation. In this embodiment,although the end effector 16 is configured to be capable of performingthe holding operation and the releasing operation so that, for example,the assembling work of the components can be performed, it is notlimited to this. Alternatively to this, it may be configured so that,for example, a welding work and a paint work can be performed.

The traveling unit 17 is provided to the pedestal 15 and causes theentire robot main body 1 to travel. The traveling unit 17 has, forexample, wheels and a wheel drive part (not illustrated) which rotatablydrives the wheels. The wheel drive part rotatably drives the wheels tomove the robot main body 1. Thus, in this embodiment, the robot mainbody 1 is a self-running robot which is self-runnable, but it is notlimited to this.

The camera 51 is a camera which images operation statuses of the slavearm 10 and the end effector 16. In this embodiment, the camera 51 isattached to the tip-end part of the slave arm 10, but it is not limitedto this. Alternatively to this, it may be attached to the end effector16 or the pedestal 15. Further, it may be fixed at a given position inthe working area.

[Configuration Example of Remote Control Device]

The remote control device 2 is installed outside the working area, iscommunicably connected to the remote control device, and controls theoperation of the robot main body 1.

The remote control device 2 includes the master arm 70, a contactlessaction detecting part 71, and a monitor 52.

The master arm 70 is a device for the operator to input an operationalinstruction for the slave arm 10 from the operator. In this embodiment,the master arm 70 is a device which the operator can control bytouching, to input a target attitude of the slave arm 10 and input anoperation mode for the slave arm 10.

FIG. 2 is a perspective view illustrating a configuration example of thecontactless action detecting part 71.

The contactless action detecting part 71 detects a contactless actionwhich includes operator's one or more given instruction targetspecification instructing actions and one or more given operationinstructing actions within a given detection range. The contactlessaction refers to actions related to body gestures, hand gestures, andvocalizations of the operator, and does not include actions of touchingan input device to control it. The contactless action includes, forexample, the operator making a hand gesture, the operator speaking, theoperator exhaling, the operator changing his/her posture, the operatorshaking his/her neck up-and-down or to the sides, the operator tiltingthe neck, the operator blinking, or the operator gazing at a givenplace, the operator changing his/her facial expression, the operatorstomping, and the operator chewing.

In this embodiment, the given instruction target specificationinstructing action and the given operation instructing action are tocause the operator to make the hand gesture, and the contactless actiondetecting part 71 is a detector which detects the operator's handgesture within a range set above the contactless action detecting part71. As illustrated in FIG. 2, the contactless action detecting part 71includes an infrared radiator 71 a for radiating an infrared rayupwardly and a stereo camera 71 b for receiving the infrared rayradiated from the infrared radiator 71 a and reflected on a targetobject. It is further configured to calculate an attitude of each finger(a shape of a hand) and a motion of the hand based on an image capturedby the stereo camera 71 b. Further, the contactless action detectingpart 71 is installed near the master arm 70 and configured to be capableof manipulating the robot main body 1 while parallelly performing aninput of the operational instruction to the master arm 70 and an inputof the instruction to the contactless action detecting part 71. Forexample, LEAP (®) of Leap Motion Inc. may be used as the contactlessaction detecting part 71.

The monitor 52 is a monitor for the operator to confirm a work situationof the slave aim 10. The monitor 52 is installed in a space where themaster arm 70 is provided. Further, in this embodiment, the monitor 52is, for example, a head mounted display which may be attached to theoperator's head, but it is not limited to this.

[Configuration Example of Control Device]

FIG. 3 is a block diagram schematically illustrating a configurationexample of a control system of the remote control robot system 100.

The control device 3 is communicably connected to the remote controldevice 2 and controls the operations of the first robot main body 1A andthe second robot main body 1B.

As illustrated in FIG. 3, the control device 3 includes a controller 31and a memory part 32. The control device 3 may be comprised of a singlecontroller which performs a central control or a plurality ofcontrollers which perform distributed controls.

The controller 31 is, for example, comprised of a microcontroller, aCPU, an MPU, a logic circuit, a PLC, etc.

The controller 31 includes a motion controlling module 33, aninstruction target specifying module 35, and an operational instructioncontent identifying module 34. The motion controlling module 33, theinstruction target specifying module 35, and the operational instructioncontent identifying module 34 are functional blocks implemented by anarithmetic unit executing a given control program stored in the memorypart 32.

The motion controlling module 33 controls the operation of the robotmain body 1, including the operation of the slave arm 10, the operationof the end effector 16, and the operation of the traveling unit 17. Thecontrols of the operation of the end effector 16 and the operation ofthe traveling unit 17 are performed, for example, by controlling acurrent supplied to each drive part.

The motion controlling module 33 manipulates the slave arm 10 based onthe operational instruction inputted to the master arm 70, and furthercontrols the operation of one or more given robot main bodies 1(instruction target) among the plurality of robot main bodies 1 based onan operation mode identified by the operational instruction contentidentifying module 34. In this embodiment, when the contactless actiondetecting part 71 detects an operation instructing action within a giventime after the contactless action detecting part 71 detects theinstruction target specification instructing action, the motioncontrolling module 33 controls the operation of one of the first robotmain body 1A and the second robot main body 1B specified by theinstruction target specifying module 35 described later. On the otherhand, when the contactless action detecting part 71 does not detect theinstruction target specification instructing action but only detects theoperation instructing action, the motion controlling module 33 controlsthe operations of the first robot main body 1A and the second robot mainbody 1B.

Based on instruction target specifying data stored in the memory part32, the instruction target specifying module 35 specifies as aninstruction target at least one of the first robot main body 1A and thesecond robot main body 1B corresponding to a single hand gesture(instruction target specification instructing action) detected by thecontactless action detecting part 71.

The operational instruction content identifying module 34, based on theoperational instruction content data stored in the memory part 32,identifies the operation mode of the robot main body 1 corresponding toa single hand gesture (operation instructing action) detected by thecontactless action detecting part 71.

In addition, the controller 31 is configured to process information ofan image captured by the camera 51 and then output it to the monitor 52.Thus, the operator can control the master arm 70 while checking the worksituation of the slave arm 10 displayed on the monitor 52. Note that thecamera 51 and the monitor 52 may be connected directly to each otherwithout going through the control device 3.

FIG. 4 is a view illustrating a configuration example of the instructiontarget specifying data stored in the memory part 32. FIG. 5 is a viewillustrating a configuration example of the operational instructioncontent data stored in the memory part 32.

The memory part 32 has memories, such as a ROM and a RAM. The memorypart 32 stores given programs and the controller 31 reads and executesthese control programs to control the operation of the robot main body1.

Further, as illustrated in FIG. 4, the memory part 32 stores instructiontarget specifying instruction data which defines as the instructiontarget one of the first robot main body 1A and the second robot mainbody 1B corresponding to the one or more instruction targetspecification instructing actions (hand gestures).

That is, in this embodiment, the instruction target specifyinginstruction data includes a definition in which the first robot mainbody 1A becomes the instruction target in association with a first handgesture in which the index finger is stretched and the other fingers arebent, and a definition in which the second robot main body 1B becomesthe instruction target in association with a second hand gesture inwhich the index finger and the middle finger are stretched and the otherfingers are bent.

Further, as illustrated in FIG. 5, the memory part 32 stores operationalinstruction content data defining the operation mode of the robot mainbody 1 corresponding to the one or more operation instructing actions(hand gestures).

That is, in this embodiment, the operational instruction content dataincludes definitions of operation modes related to “continue work” and“suspend work execution” which are associated with given hand gestures.

First, a third hand gesture in which finger tips other than the thumbare bent and stretched with the palm facing up is associated with theoperation mode related to “continue work.” The operation mode related to“continue work” is a mode in which the robot main body 1 is caused tocontinue the work in execution or continue the execution of the worksuspended from execution.

Further, as illustrated in FIG. 4, a fourth hand gesture in whichfingers are stretched with the palm facing forward is associated withthe operation mode related to “suspend work execution.” The operationmode related to “suspend work execution” is a mode in which the work inexecution is temporarily suspended.

The first to fourth hand gestures are not limited to the modes describedabove but hand gestures matching an operator's impression on theinstruction target and the operational instruction content may beselected and set as an instruction target specification instructingaction and an operation instructing action. Thus, a required period oftime for the operator to memorize the correspondence of the instructiontarget specifying instruction and the operational instruction with thehand gesture (operation instructing action) and be familiar with themethod of manipulating the remote control robot system 100 can beshortened.

Further, since it is possible to input the instruction target specifyinginstruction and the operational instruction to the contactless actiondetecting part 71 without touching, there is no need to visuallyrecognize the contactless action detecting part 71 at the time of theinput operation of the instruction target specifying instruction and theoperational instruction to the contactless action detecting part 71, andit is possible to, for example, input the instruction target specifyinginstruction and the operational instruction to the contactless actiondetecting part 71 while keeping the focus on the monitor 52. Therefore,it is possible to promptly input the instruction target specifyinginstruction and the operational instruction, and it is possible toprevent the work from being interrupted by moving his/her eyes away fromthe monitor 52.

Furthermore, it is possible that hand gestures which are clearlydistinguishable as the respective hand gestures from each other areselected and set as the instruction target specification instructingactions and the operation instructing actions, preventing incorrectinput and erroneous recognition by the operator.

Note that in this embodiment, the first to fourth hand gestures are allinputted by one of the operator's hands. Thus, it is possible to makehand gestures to input the instruction target specifying instruction andthe operational instruction to the remote control robot system 100 withone hand, while simultaneously controlling the master arm 70 to inputthe operational instruction for the slave arm 10 to the remote controlrobot system 100 with the other hand. As a result, a plurality ofoperational instruction inputs are possible.

The signals outputted from the master arm 70 and the contactless actiondetecting part 71 of the remote control device 2 are inputted to thecontrol device 3. Further, the signal outputted from the camera 51 isinputted to the control device 3.

It is configured such that the communication between the remote controldevice 2 and the control device 3 and the communication between thecontrol device 3 and the robot main body 1 are performed by a manner ofusing wire or wirelessly as appropriate.

[Operation Example]

Next, an operation example of the remote control robot system 100 willbe described.

This operation example is an operation example in a case where aworkpiece W1 stored in a workpiece storage is installed at aninstallation position P (see FIG. 1), and then a workpiece W2 stored inthe workpiece storage is installed at the installation position P.

First, while the first robot main body 1A and the second robot main body1B are traveling toward the installation position P, when the operatormakes the fourth hand gesture which includes the hand shape indicating astandby in order to stop the first robot main body 1A and the secondrobot main body 1B once, the contactless action detecting part 71detects the fourth hand gesture and transmits the attitudes of therespective fingers and the hand motion related to the fourth handgesture to the control device 3. Then, the operational instructioncontent identifying module 34 determines that the operationalinstruction related to the operation mode of “suspend work execution”has been inputted to the remote control robot system 100 based on thefourth hand gesture. Then, the motion controlling module 33 controls thetraveling units 17 of the first robot main body 1A and the second robotmain body 1B to suspend (stop) the second robot main body 1B fromadvancing.

Next, when the operator makes the third hand gesture which includes thehand shape and motion like beckoning in order to cause the first robotmain body 1A and the second robot main body 1B to travel toward theinstallation position P, the operational instruction content identifyingmodule 34 determines that the operational instruction related to theoperation mode of “continue work” has been inputted to the remotecontrol robot system 100 based on the third hand gesture. Then, themotion controlling module 33 controls the traveling units 17 of thefirst robot main body 1A and the second robot main body 1B to cause thefirst robot main body 1A and the second robot main body 1B to advanceand travel toward the installation position P.

Next, in a state where the first robot main body 1A arrives near theinstallation position P first and the operator controls the master arm70 to manipulate the slave arm 10 and move the workpiece W held by theend effector 16 toward the installation position P, when the secondrobot main body 1B approaches the installation position P, the operatorcauses the second robot main body 1B to standby until the installationof the workpiece W1 to the installation position P by the first robotmain body 1A completes.

That is, when the operator makes the second hand gesture having the handshape indicating “2,” the instruction target specifying module 35specifies the second robot main body 1B as the instruction target basedon the second hand gesture.

Subsequently to the second hand gesture, when the operator makes thefourth hand gesture which includes the hand shape indicating thestandby, the operational instruction content identifying module 34determines that the operational instruction related to the operationmode of “suspend work execution” has been inputted to the remote controlrobot system 100 based on the fourth hand gesture. Then, the motioncontrolling module 33 controls the traveling unit 17 of the second robotmain body 1B to suspend (stop) the second robot main body 1B fromadvancing.

When the installation of the workpiece W1 at the installation position Pby the first robot main body 1A is completed and the installation of theworkpiece W2 at the installation position P by the second robot mainbody 1B becomes possible, the operator makes the second hand gesture,followed by the third hand gesture. Thus, the instruction targetspecifying module 35 specifies the second robot main body 1B as theinstruction target based on the second hand gesture, and further theoperational instruction content identifying module 34 determines thatthe operational instruction related to the operation mode of “continuework” has been inputted to the remote control robot system 100 based onthe third hand gesture. Then, the motion controlling module 33 controlsthe traveling unit 17 of the second robot main body 1B to cause thesecond robot main body 1B to advance and install the workpiece W at theinstallation position P. Thus, the second robot main body 1B can bepromptly moved toward the installation position P after the first robotmain body 1A installs the workpiece W1 at the installation position P,thus improving work efficiency.

As described above, in the remote control robot system 100 according tothe present disclosure, the operator can select and set the actionsmatching the impression on the operational instruction content as theinstruction target specification instructing action and the operationinstructing action and, by using the set instruction targetspecification instructing action and operation instructing action, inputto the remote control robot system 100 the operational instructioncorresponding to the operation instructing action for the instructiontarget corresponding to the instruction target specification instructingaction. Thus, a required period of time for the operator to memorize thecorrespondence between the instruction target and the hand gesture(instruction target specification instructing action) and thecorrespondence between the operational instruction and the hand gesture(operation instructing action) and be familiar with the method ofmanipulating the remote control robot system 100 can be shortened.

Further, since it is possible to input the instruction target specifyinginstruction and the operational instruction to the contactless actiondetecting part 71 without touching, there is no need to visuallyrecognize the contactless action detecting part 71 at the time of theinput operation of the instruction target specifying instruction and theoperational instruction to the contactless action detecting part 71, andit is possible to, for example, input the instruction target specifyinginstruction and the operational instruction to the contactless actiondetecting part 71 while keeping the focus on the monitor 52. Therefore,it is possible to promptly input the instruction target specifyinginstruction and the operational instruction, and it is possible toprevent the work from being interrupted by moving his/her eyes away fromthe monitor 52.

Furthermore, it is possible that actions which are clearlydistinguishable from each other as the respective instruction targetspecification instructing action and operation instructing action areselected and set as the instruction target specification instructingaction and operation instructing action, preventing incorrect input anderroneous recognition by the operator.

Second Embodiment

Hereinafter, configurations and operations of the second embodiment willbe described focusing on differences from the first embodiment.

FIG. 6 is a view illustrating a configuration example of instructiontarget specifying data according to this embodiment, which is stored inthe memory part 32. FIG. 7 is a view illustrating a configurationexample of operational instruction content data according to thisembodiment, which is stored in the memory part 32.

In the first embodiment, the instruction target specificationinstructing action and the operation instructing action are theoperator's hand gestures, and the contactless action detecting part 71is the detector for detecting the operator's hand gestures. Meanwhile inthis embodiment, the instruction target specification instructing actionand the operation instructing action are operator's sound of voice, andthe contactless action detecting part is a detector for detecting thesound, for example, a microphone.

Further, in the first embodiment, the memory part 32 stores theinstruction target specifying data which defines one of the first robotmain body 1A and the second robot main body 1B which is associated witha given hand gesture as the instruction target, and the operationalinstruction content data which contains the definition of theoperational instructions related to “continue work” and “suspend workexecution” which are associated with the given sounds. Meanwhile in thisembodiment, the memory part 32 stores instruction target specifying datawhich defines one of the first robot main body 1A and the second robotmain body 1B which is associated with a given sound as the instructiontarget, and operational instruction content data which contains adefinition of the operational instruction related to “continue work” and“suspend work execution” which are associated with given sounds.

As illustrated in FIG. 6, the instruction target specifying instructiondata includes a definition in which the first robot main body 1A becomesthe instruction target in association with a first sound related to asound of voice “first robot” and a definition in which the second robotmain body 1B becomes the instruction target in association with a firstsound related to a sound of voice “second robot.” Further, asillustrated in FIG. 7, the operational instruction content data includesa definition of the operation mode related to “continue work” which isassociated with a third sound related to a sound of voice “continue,”and a definition of the operation mode related to “suspend workexecution” which is associated with a fourth sound related to a sound ofvoice “wait.” Note that, the operation modes related to “continue work”and “suspend work execution” are similar to those in the firstembodiment.

As described above, in this embodiment, by inputting the first or secondsound to the contactless action detecting part 71 followed by an inputof the third or fourth sound, the motion controlling module 33manipulates the instruction target corresponding to the first or secondsound according to the operation mode corresponding to the third orfourth sound.

Third Embodiment

In the first embodiment, the contactless action detecting part 71 fordetecting the operator's hand gesture includes the infrared radiator 71a, and the stereo camera 71 b for receiving the infrared ray radiatedfrom the infrared radiator 71 a and reflected on the target object.Meanwhile in this embodiment, the contactless action detecting part 71for detecting the operator's hand gesture is a glove to be worn on theoperator's hand, and includes a sensor for detecting the attitude ofeach finger and the motion of the hand

Fourth Embodiment

Hereinafter, configurations and operations of a fourth embodiment willbe described focusing on differences from the first embodiment.

FIG. 8 is a block diagram schematically illustrating a configurationexample of a control system of a remote control robot system accordingto this embodiment.

In this embodiment, the contactless action includes a plurality ofoperation instructing action groups, each comprised of one or more givenoperation instructing actions in which the operator moves his/her bodypart. Further, the plurality of operation instructing action groups areactions associated to a plurality of different body parts of theoperator. Thus, the operation instructing actions which belong todifferent operation instructing action groups are associated todifferent body parts of the operator. On the other hand, one or moreoperation instructing actions which belong to the same operationinstructing action group are associated to the same body part of theoperator. For example, the contactless action includes a right-handoperation instructing action group in which a right hand is moved and aleft-hand operation instructing action group in which a left hand ismoved. Note that, alternatively to this, it may be a right-leg operationinstructing action group in which a right left is moved and a left-legoperation instructing action group in which a left leg is moved.

Further, as illustrated in FIG. 8, based on the instruction targetspecifying data stored in the memory part 32, an instruction targetspecifying module 435 specifies as the instruction target one or moregiven robot main bodies corresponding to the operation instructingaction group to which a single operation instructing action detected bythe contactless action detecting part 71 belongs. For example, when anoperation instructing action which belongs to the right-hand operationinstructing action group is inputted to the contactless action detectingpart 71, the instruction target specifying module 435 specifies thefirst robot main body 1A as the instruction target. On the other hand,when an operation instructing action which belongs to the left-handoperation instructing action group is inputted to the contactless actiondetecting part 71, the instruction target specifying module 435specifies the second robot main body 1B as the instruction target.

FIG. 9 is a view illustrating a configuration example of operationalinstruction content data stored in a memory part of the remote controlrobot system.

Further, as illustrated in FIG. 9, the operational instruction contentdata stored in the memory part 32, similar to the first embodiment,defines the operational instruction for the robot main body 1corresponding to one or more operation instructing actions (handgestures) and, additionally, defines one or more given robot main bodiesout of the plurality of robot main bodies 1 which corresponds to aplurality of operation instructing action groups, as the instructiontarget.

For example, the operational instruction content data includes thefollowing definitions associated with given hand gestures. That is, afifth hand gesture in which the right hand palm faces up and finger tipsother than the thumb are bent and stretched belongs to the right-handoperation instructing action group, and this hand gesture is associatedwith the operation mode having the first robot main body as theinstruction target and related to “continue work.” The operation moderelated to “continue work” is an instruction which includes anoperational instruction similar to “continue work” in the firstembodiment.

Further, a sixth hand gesture in which the right hand palm faces forwardand fingers are stretched belongs to the right-hand operationinstructing action group, and this hand gesture is associated with theoperation mode having the first robot main body 1A as the instructiontarget and related to “suspend work execution.” The operation moderelated to “suspend work execution” is an instruction which includes anoperational instruction similar to “suspend work execution” in the firstembodiment.

Furthermore, a seventh hand gesture in which the left hand palm faces upand finger tips other than the thumb are bent and stretched belongs tothe left-hand operation instructing action group, and this hand gestureis associated with the operation mode having the second robot main body1B as the instruction target and related to “continue work.”

Further, an eighth hand gesture in which the left hand palm facesforward and fingers are stretched belongs to the left-hand operationinstructing action group, and this hand gesture is associated with theoperation mode having the second robot main body 1B as the instructiontarget and related to “suspend work execution.”

Thus, the right-hand operation instructing action group is assigned withthe fifth and sixth hand gestures and has the first robot main body 1Aas the instruction target. Further, the left-hand operation instructingaction group is assigned with the seventh and eighth hand gestures andhas the second robot main body 1B as the instruction target.

Furthermore, the fifth hand gesture and the seventh hand gesture whichare mutual in terms of the finger tips other than the thumb being bentand stretched with the palm facing up are both associated with theoperation modes related to “continue work.”

Further, the sixth hand gesture and the eighth hand gesture which aremutual in terms of the fingers being stretched with the palm facingforward are both associated with the operation modes related to “suspendwork execution.”

Thus, in a remote control robot system 400, when the operator makes thefifth hand gesture, the instruction target specifying module 435specifies the first robot main body 1A as the instruction target basedon the fifth hand gesture, and further the operational instructioncontent identifying module 34 determines that the operationalinstruction related to the operation mode of “continue work” has beeninputted to the remote control robot system 100 based on the fifth handgesture. Then, the motion controlling module 33 controls the first robotmain body 1A to continue the work in execution or continue the executionof the work suspended from execution.

Further, when the operator makes the sixth hand gesture, the instructiontarget specifying module 435 specifies the first robot main body 1A asthe instruction target based on the sixth hand gesture, and further theoperational instruction content identifying module 34 determines thatthe operational instruction related to the operation mode of “suspendwork execution” has been inputted to the remote control robot system 100based on the sixth hand gesture. Then, the motion controlling module 33controls the first robot main body 1A to temporarily suspend the work inexecution.

Further, when the operator makes the seventh hand gesture, theinstruction target specifying module 435 specifies the second robot mainbody 1B as the instruction target based on the seventh hand gesture, andfurther the operational instruction content identifying module 34determines that the operational instruction related to the operationmode of “continue work” has been inputted to the remote control robotsystem 100 based on the seventh hand gesture. Then, the motioncontrolling module 33 controls the second robot main body 1B to continuethe work in execution or continue the execution of the work suspendedfrom execution.

Further, when the operator makes the eighth hand gesture, theinstruction target specifying module 435 specifies the second robot mainbody 1B as the instruction target based on the eighth hand gesture, andfurther the operational instruction content identifying module 34determines that the operational instruction related to the operationmode of “suspend work execution” has been inputted to the remote controlrobot system 100 based on the eighth hand gesture. Then, the motioncontrolling module 33 controls the second robot main body 1B totemporarily suspend the work in execution.

Thus, by moving the right hand or the left hand, the operator canintegrally input the instruction target specifying instruction for therobot main body 1 which is one of the first robot main body 1A and thesecond robot main body 1B of which the operation is to be controlled,and the operational instruction for the robot main body 1 related to theinstruction target. Thus, the instruction can be inputted promptly.

<Modifications>

In the above embodiments, the master arm 70 is a device by which thetarget attitude of the slave arm 10 can be inputted, but it is notlimited to this. Alternatively to this, the master arm may be a deviceby which a target position and target attitude of the end effector 16are inputted. Further, the motion controlling module 33 may calculatethe attitude of the slave arm 10 at which the end effecter takes thedetected target position and target attitude, and control the operationof the slave arm 10 so that the slave arm 10 takes the attitude.

From the above description, many improvements and other embodiments ofthe present disclosure are apparent for a person skilled in the art.Therefore, the above description is to be interpreted only asillustration, and it is provided in order to teach a person skilled inthe art the best mode in which the present disclosure is implemented.Details of the structures and/or functions of the present disclosure maybe substantially changed without departing from the spirit of thepresent disclosure.

DESCRIPTION OF REFERENCE CHARACTERS

-   1A First Robot Main Body-   1B Second Robot Main Body-   2 Remote Control Device-   3 Control Device-   10 Slave Arm-   13 Arm Main Body-   15 Pedestal-   16 End Effector-   17 Traveling Unit-   31 Controller-   32 Memory Part-   33 Motion Controlling Module-   34 Operational Instruction Content Identifying Module-   35 Instruction Target Specifying Module-   51 Camera-   50 Monitor-   70 Master Arm-   71 Contactless Action Detecting Part-   100 Remote Control Robot System

1. A remote control robot system, comprising: a plurality of robot mainbodies; a remote control device including a contactless action detectingpart configured to detect a contactless action including at least onegiven operation instructing action by an operator; and a control devicecommunicably connected to the remote control device and configured tocontrol operations of the plurality of robot main bodies, the controldevice including: a memory part configured to store operationalinstruction content data defining an operation mode of the robot mainbody corresponding to the at least one operation instructing action; anoperational instruction content identifying module configured toidentify the operation mode of the robot main body corresponding to oneof the operation instructing action detected by the contactless actiondetecting part based on the operational instruction content data; and amotion controlling module configured to control operation of at leastone given robot main body among the plurality of robot main bodies basedon the operation mode identified by the operational instruction contentidentifying module.
 2. The remote control robot system of claim 1,wherein the motion controlling module controls operations of all robotmain bodies out of the plurality of robot main bodies based on theoperation mode identified by the operational instruction contentidentifying module.
 3. The remote control robot system of claim 1,wherein the contactless action detected by the contactless actiondetecting part further includes at least one given instruction targetspecification instructing action of the operator, wherein the memorypart further stores instruction target specifying instruction datadefining at least one robot main body among the plurality of robot mainbodies which corresponds to the at least one instruction targetspecification instructing action, as an instruction target, wherein thecontrol device further includes an instruction target specifying moduleconfigured to specify as the instruction target the at least one givenrobot main body corresponding to one of the instruction targetspecification instructing action detected by the contactless actiondetecting part based on the instruction target specifying instructiondata, and wherein the motion controlling module controls the operationof the at least one given robot main body specified by the instructiontarget specifying module out of the plurality of robot main bodies,based on the operation mode identified by the instruction contentidentifying module.
 4. The remote control robot system of claim 1,wherein the operation instructing action is operator's hand gesture. 5.The remote control robot system of claim 1, wherein the operationinstructing action is operator's sound of voice.
 6. The remote controlrobot system of claim 1, wherein the contactless action includes aplurality of operation instructing action groups, each comprised of atleast one given operation instructing action in which the operator movesa body part, and the plurality of operation instructing action groupsare actions associated to a plurality of different body parts of theoperator, wherein the operational instruction content data furtherdefines at least one given robot main body among the plurality of robotmain bodies which corresponds to one of the plurality of operationinstructing action groups, as an instruction target, wherein the controldevice further includes an instruction target specifying moduleconfigured to specify as the instruction target the at least one givenrobot main body corresponding to the instruction target specificationinstructing action group to which one of the operation instructingaction detected by the contactless action detecting part belongs, basedon the operational instruction content data, and wherein the motioncontrolling module controls the operation of the at least one givenrobot main body specified by the instruction target specifying moduleout of the plurality of robot main bodies, based on the operation modeidentified by the instruction content identifying module.
 7. The remotecontrol robot system of claim 6, wherein one operation instructingaction group among the plurality of operation instructing action groupsincludes at least one given operation instructing action that is a handgesture in which the operator moves a right hand, and another operationinstructing action group among the plurality of operation instructingaction groups includes at least one given operation instructing actionthat is a hand gesture in which the operator moves a left hand.
 8. Theremote control robot system of claim 1, wherein the plurality of robotmain bodies respectively include a traveling unit configured to causethe robot main body to travel, and wherein the operation mode of therobot main body defined by the operational instruction content dataincludes an operation mode in which the robot main body travels by thetraveling unit.